KDL::ChainIkSolverPos_TL Class Reference

#include <kdl_tl.hpp>

Public Member Functions
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero())
	ChainIkSolverPos_TL (const Chain &chain, const JntArray &q_min, const JntArray &q_max, double maxtime=0.005, double eps=1e-3, bool random_restart=false, bool try_jl_wrap=false)
void	setMaxtime (double t)
	~ChainIkSolverPos_TL ()

Private Member Functions
void	abort ()
void	reset ()

Static Private Member Functions
static double	fRand (double min, double max)

Private Attributes
bool	aborted
KDL::Twist	bounds
const Chain	chain
JntArray	delta_q
Twist	delta_twist
double	eps
Frame	f
KDL::ChainFkSolverPos_recursive	fksolver
double	maxtime
JntArray	q_max
JntArray	q_min
bool	rr
std::vector< KDL::BasicJointType >	types
KDL::ChainIkSolverVel_pinv	vik_solver
bool	wrap

Friends
class	TRAC_IK::TRAC_IK

Detailed Description

Definition at line 48 of file kdl_tl.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_TL::ChainIkSolverPos_TL	(	const Chain &	chain,
		const JntArray &	q_min,
		const JntArray &	q_max,
		double	maxtime = 0.005,
		double	eps = 1e-3,
		bool	random_restart = false,
		bool	try_jl_wrap = false
	)

Definition at line 38 of file kdl_tl.cpp.

KDL::ChainIkSolverPos_TL::~ChainIkSolverPos_TL

(

)

Definition at line 196 of file kdl_tl.cpp.

Member Function Documentation

void KDL::ChainIkSolverPos_TL::abort ( )

inlineprivate

Definition at line 83 of file kdl_tl.hpp.

int KDL::ChainIkSolverPos_TL::CartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		const KDL::Twist	bounds = KDL::Twist::Zero()
	)

Definition at line 68 of file kdl_tl.cpp.

static double KDL::ChainIkSolverPos_TL::fRand ( double  min, double  max  )

inlinestaticprivate

Definition at line 98 of file kdl_tl.hpp.

void KDL::ChainIkSolverPos_TL::reset ( )

inlineprivate

Definition at line 88 of file kdl_tl.hpp.

void KDL::ChainIkSolverPos_TL::setMaxtime ( double  t )

inline

Definition at line 59 of file kdl_tl.hpp.

Friends And Related Function Documentation

friend class TRAC_IK::TRAC_IK

friend

Definition at line 50 of file kdl_tl.hpp.

Member Data Documentation

bool KDL::ChainIkSolverPos_TL::aborted

private

Definition at line 93 of file kdl_tl.hpp.

KDL::Twist KDL::ChainIkSolverPos_TL::bounds

private

Definition at line 69 of file kdl_tl.hpp.

const Chain KDL::ChainIkSolverPos_TL::chain

private

Definition at line 65 of file kdl_tl.hpp.

JntArray KDL::ChainIkSolverPos_TL::delta_q

private

Definition at line 73 of file kdl_tl.hpp.

Twist KDL::ChainIkSolverPos_TL::delta_twist

private

Definition at line 96 of file kdl_tl.hpp.

double KDL::ChainIkSolverPos_TL::eps

private

Definition at line 76 of file kdl_tl.hpp.

Frame KDL::ChainIkSolverPos_TL::f

private

Definition at line 95 of file kdl_tl.hpp.

KDL::ChainFkSolverPos_recursive KDL::ChainIkSolverPos_TL::fksolver

private

Definition at line 72 of file kdl_tl.hpp.

double KDL::ChainIkSolverPos_TL::maxtime

private

Definition at line 74 of file kdl_tl.hpp.

JntArray KDL::ChainIkSolverPos_TL::q_max

private

Definition at line 67 of file kdl_tl.hpp.

JntArray KDL::ChainIkSolverPos_TL::q_min

private

Definition at line 66 of file kdl_tl.hpp.

bool KDL::ChainIkSolverPos_TL::rr

private

Definition at line 78 of file kdl_tl.hpp.

std::vector<KDL::BasicJointType> KDL::ChainIkSolverPos_TL::types

private

Definition at line 81 of file kdl_tl.hpp.

KDL::ChainIkSolverVel_pinv KDL::ChainIkSolverPos_TL::vik_solver

private

Definition at line 71 of file kdl_tl.hpp.

bool KDL::ChainIkSolverPos_TL::wrap

private

Definition at line 79 of file kdl_tl.hpp.

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The documentation for this class was generated from the following files:

• kdl_tl.hpp
• kdl_tl.cpp